三旋翼飞行器的建模及其姿态自抗扰控制

Modeling of Three-rotor Aircraft and Its Attitude Based on ADRC

根据国内外旋翼飞行器的研究现状以及三旋翼飞行器的机械结构,对三旋翼飞行器进行力矩分析,建立数学模型.采用自抗扰控制方法对三旋翼飞行器的姿态角进行姿态控制,通过Matlab仿真与PID控制方法的对比试验,以及跟踪不同数值大小的阶跃响应信号进行分组仿真.仿真结果表明,自抗扰控制算法具有有效性和快速性,分组试验表明针对不同大小的阶跃信号,可采用不同的参数进行调节.结果表明:该方法既具有良好的滤波性与鲁棒性,又保留了PID控制的大体框架与结构简单等优势,在工程和之后的试验中有一定的指导价值.

According to the status of rotorcraft and mechanical structure of three-rotor, this paper analyzed the torque of a three-rotor aircraft and established its mathematical model. Active disturbance rejection control ( ADRC) was applied to the control of attitude. To investigate the performance between ADRC and PID, series of comparative experiments were carried out. Results show that different sizes of step signal can be adjusted by different parameters in ADRC, and ADRC is more effective and rapid than PID. ADRC can not only keep the general framework and structure of PID, but also has better performance on filtering and robustness, which has important guiding significance in engineering and experiments.